Yes a flush is a good idea. If you want to skimp on the garage fee here is what you do. Pull the pan, change the filter and reinstall the pan. Add 5 quarts or so, unhook the return line after the cooler. Get a friend to add fluid as soon as you fire the engine, pump around 8 quarts though. Kill the engine, reinstall the line, check the fluid, add til full. Light it up, run through the gears, check fluid, done. Pretty much the same as a flushing machine just more chance of a big mess. If you aren't comfortable doing that then it is worth the shop fee. We charge $125 out the door for a flush, filter and fluid change.
Matt